/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "GraspPolicyFactory.hpp"

using namespace rwsim::util;
using namespace rwsim;

#include "TargetConfigGraspPolicy.hpp"

std::vector< std::string > GraspPolicyFactory::getAvailablePolicies ()
{
    std::vector< std::string > policies;
    policies.push_back (TargetConfigGraspPolicy::getID ());
    policies.push_back ("TargetVelocity");
    return policies;
}

GraspPolicy::Ptr GraspPolicyFactory::makePolicy (const std::string& id,
                                                 dynamics::DynamicWorkCell* dwc,
                                                 rwsim::dynamics::DynamicDevice* dev)
{
    if (id == TargetConfigGraspPolicy::getID ()) {
        return rw::core::ownedPtr (new TargetConfigGraspPolicy (dev));
    }
    else if (id == "TargetVelocity") {
    }

    RW_THROW ("No such policy! ");
    return NULL;
}
